CN113809833A

CN113809833A - Wireless charging method and device, equipment to be charged and computer readable storage medium

Info

Publication number: CN113809833A
Application number: CN202111107517.7A
Authority: CN
Inventors: 张吉延
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-09-22
Filing date: 2021-09-22
Publication date: 2021-12-17

Abstract

The embodiment of the application relates to a wireless charging device, which is used for charging a to-be-charged device, wherein the to-be-charged device is provided with a first wireless charging coil, the wireless charging device comprises a base, a second wireless charging coil, a temperature sensor and a control device, an accommodating cavity is arranged in the base, and the base is provided with a bearing surface. The second wireless charging coil is movably disposed within the receiving cavity and is couplable to the first wireless charging coil. The temperature sensor is used for acquiring temperature distribution information of the bearing surface, and the control device is used for controlling the second wireless charging coil to move according to the temperature distribution information, so that the second wireless charging coil corresponds to the first wireless charging coil in position. The wireless charging device provided by the embodiment of the application can improve the charging efficiency and reduce the electric energy loss in the charging process. In addition, the embodiment of the application also provides a wireless charging method, a device to be charged and a storage medium.

Description

Wireless charging method and device, equipment to be charged and computer readable storage medium

Technical Field

The present application relates to the field of wireless charging technologies, and in particular, to a wireless charging method and apparatus, a device to be charged, and a computer-readable storage medium.

Background

With the development and progress of science and technology, wireless charging technology is more and more applied to various types of electronic devices, such as mobile phones, tablet computers, robots, smart watches and the like. In the related art, generally, a wireless charging coil is respectively disposed in the electronic device and the wireless charging device, and the wireless charging coil transmits power into a battery of the electronic device in a wireless transmission manner by contacting the electronic device with the wireless charging device. However, in the actual use process, when the user manually or the electronic device automatically contacts the wireless charging device, the electronic device and the two wireless charging coils of the wireless charging device cannot be accurately aligned, so that the charging efficiency is reduced, and the electric energy loss is increased.

Disclosure of Invention

The embodiment of the application provides a wireless charging method, a wireless charging device, a device to be charged and a computer readable storage medium.

In a first aspect, an embodiment of the present application provides a wireless charging device, which is used for charging a device to be charged, where the device to be charged has a first wireless charging coil, the wireless charging device includes a base, a second wireless charging coil, a temperature sensor, and a control device, an accommodating cavity is provided in the base, and the base has a bearing surface. The second wireless charging coil is movably disposed within the receiving cavity and is couplable to the first wireless charging coil. The temperature sensor is used for acquiring temperature distribution information of the bearing surface, and the control device is used for controlling the second wireless charging coil to move according to the temperature distribution information, so that the second wireless charging coil corresponds to the first wireless charging coil in position.

In a second aspect, an embodiment of the present application further provides a device to be charged, including a housing, a first wireless charging coil, a temperature sensor and a control device, where the housing has an interior cavity, the first wireless charging coil is movably disposed in the interior cavity and can be coupled with a second wireless charging coil on the wireless charging device, and the temperature sensor is used to obtain temperature distribution information of an outer surface of the housing. The control device is used for controlling the first wireless charging coil to move according to the temperature distribution information, so that the first wireless charging coil corresponds to the second wireless charging coil in position.

In a third aspect, an embodiment of the present application further provides a wireless charging method, which is applied to a wireless charging device, where the wireless charging device includes a second wireless charging coil, and the wireless charging method includes: responding to a charging request of a device to be charged, and wirelessly charging the device to be charged, wherein the device to be charged is provided with a first wireless charging coil; acquiring temperature distribution information of a contact surface of equipment to be charged and a wireless charging device; determining a location of the first wireless charging coil based on the temperature distribution information; and controlling the second wireless charging coil to move so that the second wireless charging coil corresponds to the position of the first wireless charging coil.

In a fourth aspect, an embodiment of the present application further provides a wireless charging method, which is applied to a device to be charged, where the device to be charged has a first wireless charging coil, and the wireless charging method includes: receiving power transmitted by the wireless charging device in a wireless mode, wherein the wireless charging device is provided with a second wireless charging coil; acquiring temperature distribution information of a contact surface of equipment to be charged and a wireless charging device; determining the position of a second wireless charging coil according to the temperature distribution information; and controlling the first wireless charging coil to move so that the first wireless charging coil corresponds to the position of the second wireless charging coil.

In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the above wireless charging method.

According to the wireless charging method and the wireless charging device, the temperature distribution information of the bearing surface is obtained through the temperature sensor, the position of the first wireless charging coil of the device to be charged is further determined, the second wireless charging coil of the wireless charging device is controlled to move through the control device, the second wireless charging coil corresponds to the first wireless charging coil, accurate alignment of the second wireless charging coil and the first wireless charging coil is achieved, charging efficiency is improved, and electric energy loss in the charging process is reduced.

According to the to-be-charged device and the wireless charging method, the temperature distribution information of the contact surface between the to-be-charged device and the wireless charging device is acquired through the temperature sensor, the position of a second wireless charging coil of the wireless charging device is further determined, the first wireless charging coil of the to-be-charged device is controlled to move, the second wireless charging coil corresponds to the first wireless charging coil, accurate alignment of the second wireless charging coil and the first wireless charging coil is achieved, charging efficiency is further improved, and electric energy loss in the charging process is reduced.

Drawings

In order to more clearly illustrate the technical solution of the application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a wireless charging device according to an embodiment of the present application.

Fig. 2 is a schematic cross-sectional structure diagram of a wireless charging device according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural view of a drive mechanism shown in an embodiment of the present application.

Fig. 4 is a block diagram of a wireless charging device proposed in an embodiment of the present application.

Fig. 5 is a schematic diagram of a state of a device to be charged in operation to a wireless charging apparatus in an embodiment of the present application.

Fig. 6 is a schematic diagram of a state in which a device to be charged is charged when the device to be charged operates in a wireless charging apparatus, which is shown in an embodiment of the present application.

Fig. 7 is a flowchart of a wireless charging method proposed in an embodiment of the present application.

Fig. 8 is a flowchart of another wireless charging method proposed in the embodiment of the present application.

Fig. 9 is a flowchart of another wireless charging method proposed in the embodiment of the present application.

Fig. 10 is a flowchart of an implementation manner of step S240 in a wireless charging method proposed in the embodiment of the present application.

Fig. 11 is a flowchart of another wireless charging method proposed in the embodiment of the present application.

Fig. 12 is a schematic view of another charging state of the device to be charged shown in the embodiment of the present application.

Fig. 13 is a schematic structural diagram of a device to be charged according to an embodiment of the present application.

Fig. 14 is a schematic structural diagram of a first wireless charging coil in a device to be charged according to an embodiment of the present application.

Fig. 15 is a flowchart of another wireless charging method proposed in the embodiment of the present application.

Fig. 16 is a flowchart of another wireless charging method proposed in the embodiment of the present application.

Fig. 17 is a block diagram of a computer-readable storage medium according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As used in the embodiments of the present application, the "device to be charged" refers to a user terminal device that can be wirelessly charged, including but not limited to an electronic device, a smart robot, an electric vehicle, and the like. The "smart robot" used in the embodiments of the present application includes, but is not limited to, a multi-legged robot, a sweeping robot, a wheeled robot, a wheel-legged robot, and the like. The "electric vehicle" used in the embodiment of the present application includes, but is not limited to, a hybrid vehicle, a pure electric vehicle, and the like. As used in embodiments of the present application, the "electronic device" may be a mobile phone or a smart phone (e.g., iPhone-based, Android-based phone), a Portable game device (e.g., Nintendo DS, PlayStation Portable, game Advance, iPhone), a laptop, a PDA, a Portable internet device, a music player, and a data storage device, other handheld devices, and a head-mounted device (HMD), such as a watch, a headset, a pendant, a headset, and the like, as well as the electronic device 500 may be other wearable devices (e.g., a head-mounted device (HMD), such as electronic glasses, electronic clothing, an electronic bracelet, an electronic necklace, an electronic tattoo, the electronic device 500, or a smart watch).

The electronic device 500 may also be any of a number of electronic devices 500, including, but not limited to, cellular phones, smart phones, other wireless communication devices, personal digital assistants, audio players, other media players, music recorders, video recorders, cameras, other media recorders, radios, medical devices, vehicle transportation equipment, calculators, programmable remote controls, pagers, laptop computers, desktop computers, printers, netbook computers, Personal Digital Assistants (PDAs), Portable Multimedia Players (PMPs), moving Picture experts group (MPEG-1 or MPEG-2) Audio layer 3(MP3) players, portable medical devices, and digital cameras, and combinations thereof.

Wireless charging technology is the technique through magnetic field transmission electric energy, and it need not wait to be connected physically between charging device, can realize the electric energy transmission, compares in traditional charging mode, need not set up the wire cable, can reduce equipment volume, and the charging process is more convenient.

In the correlation technique, when waiting that the battery charging outfit carries out wireless charging, can not guarantee that the wireless charging coil on waiting the battery charging outfit and the wireless charging coil on the wireless charging device complete position correspond, can have certain positional deviation, this results in charge efficiency's decline to produce great power loss.

Therefore, the inventors of the present application propose a wireless charging method, an apparatus, a device to be charged, and a computer-readable storage medium in the embodiments of the present application to improve the above problems. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

Referring to fig. 1, fig. 1 shows a structure of a wireless charging device 20, where the wireless charging device 20 is used for wirelessly charging a device to be charged, and a first wireless charging coil and a battery are disposed in the device to be charged, and the first wireless charging coil is used for coupling with the wireless charging device 20, receiving electric energy transmitted by the wireless charging device 20 in a wireless transmission manner, and storing the electric energy in the battery. In a more specific embodiment, the device to be charged may be a robot, the device to be charged includes a first wireless charging coil and a battery, the first wireless charging coil is configured to receive electric energy transmitted by wireless transmission, the first wireless charging coil is electrically connected to the battery, and the received electric energy may be stored in the battery.

Referring to fig. 1 and fig. 2, the wireless charging device 20 includes a base 23, a second wireless charging coil 21, a temperature sensor 22, and a control device 500 (shown in fig. 4), wherein the second wireless charging coil 21 and the temperature sensor 22 are disposed on the base 23, and the control device 500 is configured to control the second wireless charging coil 21 and can receive temperature data collected by the temperature sensor 22.

In this embodiment, the base 23 may be a substantially disk-shaped structure, and the base 23 may be formed of a housing, which may be made of plastic or the like. Be provided with in the base 23 and hold chamber 233, hold chamber 233 and enclose by the casing and become, hold chamber 233 and can supply to set up second wireless charging coil 21, controlling means 500 etc.. Specifically, the base 23 includes an upper housing, the upper housing is located at the top of the base 23, the upper housing has a bearing surface 231 and an inner surface 232 which are opposite to each other, the bearing surface 231 is exposed as a partial appearance surface, the bearing surface 231 is used for contacting with a device to be charged in a wireless charging process, or is used for bearing the device to be charged, and when the wireless charging device 20 is placed on the ground or other supports, the device to be charged is convenient to contact with the bearing surface, so as to perform charging. In another more specific embodiment, the bearing surface may be located on a side surface of the base 23, so that the base 23 may be fixed to a wall surface or the like, and when charging is required, the device to be charged is close to the wall surface and contacts with the bearing surface to realize wireless charging, which is not limited herein. Interior surface 232 is adjacent to receiving cavity 233, interior surface 232 may have the same shape as bearing surface 231, and in some embodiments, bearing surface 231 and interior surface 232 may be substantially parallel to each other.

Second wireless charging coil 21 is disposed within receiving cavity 233 and can be coupled to the first wireless charging coil of the device to be charged. Second wireless charging coil 21 can be adjacent to internal surface 232 and set up to reduce and the bearing surface between the interval, like this when carrying out wireless charging, treat that battery charging outfit can have a smaller interval with second wireless charging coil 21, treat that the magnetic field intensity between battery charging outfit and the wireless charging coil 21 of second is bigger, improves electric energy transmission efficiency. In particular, second wireless charging coil 21 may be affixed to inner surface 232. The second wireless charging coil 21 may be formed of a coaxial multi-turn front coil, and the more turns of the coil, the more the charging power is improved. In this embodiment, the axial direction of second wireless charging coil 21 may be substantially perpendicular to bearing surface 231 and inner surface 232, wherein the axial direction of second wireless charging coil 21 is perpendicular to the perpendicular bisector of the plane of each turn of second wireless charging coil 21. That is, the plane in which second wireless charging coil 21 lies is substantially parallel to bearing surface 231 or inner surface 232.

When the device to be charged is placed on the bearing surface or is in contact with the bearing surface, the device to be charged may be placed in any area, and at this time, the first wireless charging coil and the second wireless charging coil 21 provided in the device to be charged may not completely correspond to each other. In this embodiment, the second wireless charging coil 21 is movably disposed in the accommodating cavity 233, that is, the second wireless charging coil 21 can move in the accommodating cavity 233, and in the moving process, the second wireless charging coil 21 can correspond to different areas of the bearing surface. Like this, through removing second wireless charging coil 21, can be so that second wireless charging coil 21 and first wireless charging coil can keep the corresponding relation all the time to improve the transmission efficiency among the wireless charging process.

In one embodiment, referring to fig. 3, a first guide rail 26 and a second guide rail 27 are disposed in the accommodating cavity 233, the first guide rail 26 and the second guide rail 27 are both fixedly disposed on the housing, the first guide rail 26 and the second guide rail 27 are disposed at an angle, the second wireless charging coil 21 is slidably disposed on the first guide rail 26, and the first guide rail 26 is slidably disposed on the second guide rail 27, so that the second wireless charging coil 21 can respectively slide along the extending direction of the first guide rail 26 and along the extending direction of the second guide rail, and position adjustment of the second wireless charging coil 21 in the plane direction is achieved. In particular, in a more specific embodiment, the direction of extension of the first rail 26 and the direction of extension of the second rail 27 may be perpendicular to each other. Specifically, the second wireless charging coil 21 is carried on a fixed platform 25, the fixed platform 25 is slidably mounted on the first guide rail 26 and can slide along the extending direction of the first guide rail 26, and the first guide rail 26 can slide along the extending direction of the second guide rail 27. The number of the second guide rails 27 may be two, the two second guide rails 27 are arranged side by side at intervals, and both ends of the first guide rail 26 are respectively slidably assembled on one second guide rail 27.

The wireless charging device 20 can also include a drive mechanism 28 for driving the second wireless charging coil 21 along the first rail 26 and/or the second rail 27. Specifically, in this embodiment, the driving mechanism 28 may include a first motor 281 and a second motor 282, the first motor 281 is used for driving the second wireless charging coil 21 to slide along the first guide rail 26, the second motor 282 is used for driving the first guide rail 26 to slide along the second guide rail 27, and by arranging the first motor 281 and the second motor 282, the position of the second wireless charging coil 21 may be adjusted more precisely, so that the second wireless charging coil 21 may correspond to the first wireless charging coil more precisely. In other embodiments, the driving mechanism 28 may also be an electromagnetic attraction device, and the second wireless charging coil 21 slides in two directions by applying a magnetic attraction force to the second wireless charging coil 21 and the first guiding rail 26. The driving structure can also be a telescopic cylinder and the like, and the details are not repeated. In one embodiment, the driving mechanism 28 may not be provided, and the second wireless charging coil 21 may be driven to move by a magnetic force generated when the first wireless charging coil and the second wireless charging coil 21 are coupled. In this case, a guide mechanism for second wireless charging coil 21 may be provided in housing cavity 233.

In other embodiments, the first guide rail 26 and the second guide rail 27 may not be provided, and for example, the driving mechanism 28 may be directly provided in two directions to drive the second wireless charging coil 21 to move.

When the device to be charged is placed on the bearing surface and the second wireless charging coil 21 and the bearing surface transmit power as much as possible, the first wireless charging coil generates heat to generate heat, and the heat is dissipated outwards, so that the temperature of the bearing surface is increased. For example: the position on the bearing surface corresponding to the center of the first wireless charging coil will be at a higher temperature due to the heat concentration in each direction, while the position on the bearing surface corresponding to the edge of the first wireless charging coil will be at a lower temperature, and the position on the bearing surface not corresponding to the first wireless charging coil will be at a lower temperature. The temperature sensor 22 is configured to obtain temperature distribution information of the bearing surface, where the temperature distribution information may include temperature information of all points on the bearing surface and a mapping relationship of temperature changes of each point on the bearing surface over time, and the temperature distribution information may further include a temperature gradient at a position where each point is located, where the temperature gradient refers to a temperature change trend of each point and a point near the point.

In order to improve the accuracy of the temperature sensor 22 in acquiring the temperature distribution information of the bearing surface, the temperature sensor 22 should be disposed as close as possible to the bearing surface, and as a more specific embodiment, the temperature sensor 22 may be disposed directly on the bearing surface. Specifically, the bearing surface is provided with the mounting groove, and the mounting groove is sunken to form towards internal surface 232, and temperature sensor 22 inlays and locates in the mounting groove, and further, temperature sensor 22 can be with the bearing surface parallel and level to avoid temperature sensor 22 to obstruct the placing of waiting to charge equipment. The number of temperature sensors 22 includes, but is not limited to, one or more, where a plurality refers to two or more. When the temperature sensor 22 is plural, the plural sensors may be uniformly arranged on the carrying surface.

Through the temperature distribution information who obtains the loading face, can fix a position the position of confirming first wireless charging coil, and then through removing second wireless charging coil 21 for second wireless charging coil 21 corresponds with first wireless charging coil.

Coupling at first wireless charging coil and second wireless charging coil 21 to carry out the in-process of power transmission, more heat also can be produced to second wireless charging coil 21, and these heats also can conduct to the loading face at the in-process that outwards scatters and disappears, consequently in order to improve the positioning accuracy to first wireless charging coil. In this embodiment, as shown in fig. 2, the wireless charging device 20 further includes a heat insulating layer 28, the heat insulating layer 28 is disposed between the second wireless charging coil 21 and the bearing surface, and is used for conducting the heat generated by the second wireless charging coil 21 to the bearing surface as little as possible, so that the temperature distribution information of the bearing surface acquired by the temperature sensor 22 can reflect the position of the first wireless charging coil more accurately, and the position of the second wireless charging coil 21 is moved later more accurately.

The thermal insulation layer 28 may be made of a material having a low thermal conductivity, such as silica gel, glass fiber, asbestos, etc., but is not limited thereto. The thermal barrier layer 28 may be attached to the inner surface 232 and cover the entire inner surface 232. Simultaneously in order to improve the radiating effect of base 23, can set up the louvre at the bottom of base 23 or side, scatter and disappear the heat that second wireless charging coil 21 produced as early as possible towards other directions, further reduce the influence of the heat that second wireless charging coil 21 produced to the temperature of loading face.

Referring to fig. 4, the control device 500 may be in communication with the temperature sensor 22 to obtain the temperature distribution information detected by the temperature sensor 22. The control device 500 is used for controlling the movement of the second wireless charging coil 21 according to the temperature distribution information, so that the second wireless charging coil 21 corresponds to the position of the first wireless charging coil. Specifically, the control device 500 may send a control command to the driving mechanism 28, and then control the driving mechanism 28 to drive the second wireless charging coil 21 to move. For example: in a more specific embodiment, the control device 500 is electrically connected to the first motor 281 and the second motor 282, and controls the first motor 281 and the second motor 282 to turn on/off, or rotate forward/backward, so as to control the position of the second wireless charging coil 21. When second wireless charging coil 21 corresponds to the first wireless charging coil, second wireless charging coil 21 may transmit electrical energy to the first wireless charging coil with greater charging power.

In this embodiment, the phrase "the first wireless charging coil corresponds to the position of the second wireless charging coil 21, or the second wireless charging coil 21 corresponds to the position of the first wireless charging coil" means that: the area of the mutual coincidence of the orthographic projection of the first wireless charging coil on the bearing surface and the orthographic projection of the second wireless charging coil 21 on the bearing surface is greater than or equal to a preset threshold, and the preset threshold can be, for example, 90-95% of the area of the mutual coincidence of the orthographic projection of the second wireless charging coil 21 on the bearing surface.

With continued reference to fig. 4, the control device 500 may include a processor 502 and a memory 504, and the processor 502 may include one or more processing cores. The processor 502 interfaces with various interfaces and circuitry throughout the electronic device 500 to perform various functions of the electronic device 500 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 504 and by invoking data stored in the memory 504. Alternatively, the processor 502 may be implemented in hardware using at least one of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 502 may integrate one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing display content; the modem is used to handle wireless communications. It is to be understood that the modem may not be integrated into the processor 502, but may be implemented by a communication chip.

The Memory 504 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). The memory 504 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 504 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, and the like. The data storage area may also store data created during use by the electronic device 500 (e.g., phone books, audio-visual data, chat log data), and so forth.

In addition, referring again to fig. 1, the wireless charging device 20 may further include an adapter 24 for connecting with an external power source, such as a household power source.

In one embodiment, in order to more accurately determine the position of the first wireless charging coil, the wireless charging device 20 may further include a magnetic sensor 30, the magnetic sensor 30 may be in communication with the control device 500, and the magnetic sensor 30 is configured to detect the magnetic field distribution information of the first wireless charging coil when receiving power and transmit the magnetic field distribution information to the control device 500, and since the magnetic field generated by the coil is a non-uniform magnetic field, the position of the first wireless charging coil may be further accurately located by acquiring the magnetic field distribution information. The magnetic force sensor 30 may be a plurality of magnetic force sensors 30, and the plurality of magnetic force sensors 30 may be uniformly arranged on the bearing surface. In particular, the number of the magnetic force sensors 30 may be the same as the number of the temperature sensors 22, and one magnetic force sensor 30 and one temperature sensor 22 may be provided integrally or may be provided to overlap. The advantages of this arrangement are: the temperature distribution information acquired by the temperature sensor 22 and the magnetic field distribution information acquired by the magnetic sensor 30 can be directly superimposed, so that the control device 500 can directly and accurately determine the position of the first wireless charging coil according to the temperature distribution information and the magnetic field distribution information.

For convenience of description, in the present embodiment, a robot capable of moving autonomously is taken as an example of a device to be charged. As shown in fig. 5, when the device to be charged detects that the power is insufficient, for example, the power is lower than 20% of the battery capacity or less, the location of the wireless charging apparatus may be queried, and a moving path may be planned, where the obstacle is avoided and the device autonomously moves to the wireless charging apparatus. As shown in fig. 6, the robot squats down, so that the first wireless charging coil contacts with the bearing surface of the wireless charging device for charging.

Specifically, as shown in fig. 7, the wireless charging method includes the following steps:

step S110: the method comprises the steps of responding to a charging request of a device to be charged, and wirelessly charging the device to be charged, wherein the device to be charged is provided with a first wireless charging coil.

Before wirelessly charging the device to be charged, the charging request of the device to be charged may be obtained in advance and then performed, where the charging request refers to a request that the device to be charged needs to be charged. The charging request of the device to be charged may be sent by the device to be charged actively, for example, when the device to be charged approaches or releases the bearing surface, the device to be charged sends the charging request to the wireless charging apparatus. The charging request may also be actively detected by the wireless charging device, for example: the wireless charging device can be provided with a pressure sensor, and when the pressure sensor of the wireless charging device detects that the equipment to be charged is in contact with the bearing surface, the equipment to be charged can be wirelessly charged. When the wireless charging device wirelessly charges the device to be charged, the device to be charged can be charged with the first power.

Step S120: and acquiring the temperature distribution information of the contact surface of the equipment to be charged and the wireless charging device.

The contact surface of the device to be charged and the wireless charging device is the bearing surface of the wireless charging device. Therefore, the temperature distribution information of the contact surface of the device to be charged and the wireless charging device can be acquired through the temperature sensor arranged on the wireless charging device. In some embodiments, the temperature distribution information of the contact surface between the device to be charged and the wireless charging device can also be acquired by means of infrared visual imaging.

In some embodiments, the temperature distribution information of the contact surface between the device to be charged and the wireless charging apparatus may be obtained after the device to be charged and the wireless charging apparatus establish a charging connection. Or after a preset time period, acquiring the temperature distribution information of the contact surface between the device to be charged and the wireless charging device, wherein the method has the advantages that: in the charging process, along with the increase of duration, first wireless charging coil continuously generates heat, and the temperature of bearing surface lasts to rise this moment, and when the temperature of bearing surface was higher, the temperature data that temperature sensor acquireed can be more be close its range, and therefore the data is more accurate for also more accurate when confirming the position of first wireless charging coil. For example, after the device to be charged and the wireless charging device establish charging connection, the temperature distribution information of the contact surface between the device to be charged and the wireless charging device may be acquired after 3-5 min. The temperature distribution information can be acquired in the form of collecting the temperature information of each point or each characteristic point on the bearing surface and storing the temperature information in the local or cloud end.

Step S130: the location of the first wireless charging coil is determined from the temperature profile information.

After the temperature distribution information is acquired, the position of the first wireless charging coil can be determined according to the temperature distribution information.

In an embodiment, the position of the first wireless charging coil may be determined in such a way that a plane coordinate system of each point on the bearing surface is established in advance, according to the temperature distribution information, an area range in which the highest temperature point is located is determined, the area range may be a circular range formed by taking the point as a center and a preset radius, the preset radius may be 0-10mm, for example, the position corresponding to the area range in which the highest temperature point is located is determined as the center position of the first wireless charging coil, and according to the center position, the position of the first wireless charging coil is determined to be located in the position range corresponding to the area range in which the highest temperature point is located. In particular, it is also possible to determine the point on the bearing surface where the temperature is highest as the center position of the first wireless charging coil, the coil center of the first wireless charging coil being determined to be at this center position, and since the first wireless charging coil is typically configured as a circular or spiral coil, the position of the first wireless charging coil can be determined.

In an embodiment, the position of the first wireless charging coil may be determined in the following manner, according to temperature distribution information, the first wireless charging coil is compared with a pre-stored temperature distribution information table, a temperature gradient of an area range where a highest temperature point is located in the temperature distribution information table is compared with a temperature gradient obtained from the temperature distribution information, a position matching the temperature gradient of the area range where the highest temperature point is located in the temperature distribution information table is determined as the position of the first wireless charging coil, and the temperature distribution information table includes temperature information and temperature gradient information of each point on the bearing surface at a preset time when the device to be charged is in a standard charging state. The pre-stored temperature profile information table may be pre-collected in a standard charging mode, for example: before the equipment leaves a factory, the equipment to be charged is contacted with the contact surface, the first wireless charging coil corresponds to the center position of the bearing surface, and therefore after charging connection is established, the collected temperature distribution information of the bearing surface is temperature distribution information of the bearing surface in a standard charging state with the center of the bearing surface as a reference. Temperature distribution information under the standard state of charge can be saved in wireless charging device local or high in the clouds server, through calling temperature distribution information under the standard state of charge, contrasts with the temperature distribution information of actual collection, can be in order to determine the offset of the central point of current first wireless charging coil and the central point of loading face, and then confirms the position of current first wireless charging coil.

After determining the position of the first wireless charging coil, step S140 may be performed.

Step S140: and controlling the second wireless charging coil to move so that the second wireless charging coil corresponds to the position of the first wireless charging coil.

Taking the wireless charging device as an example, the control device can control the driving mechanism to drive the second wireless charging coil, and then the second wireless charging coil is moved to a position corresponding to the position of the first wireless charging coil.

According to the wireless charging method provided by the embodiment, the position of the first wireless charging coil can be determined by acquiring the temperature distribution information of the contact surface between the wireless charging device and the equipment to be charged, and then the second wireless charging coil is controlled to correspond to the position of the first wireless charging coil, so that when wireless charging is carried out, the first wireless charging coil and the second wireless charging coil have higher coupling degree, the charging efficiency is improved, and meanwhile, the loss of electric energy in the charging process is reduced.

When the electric quantity of the equipment to be charged is full or nearly full, the equipment to be charged can be stopped from being charged, and the overload of the battery of the equipment to be charged is avoided. Thus, in some embodiments, as shown in fig. 8, after step S140, step S150 may be further performed: and acquiring the real-time electric quantity of the equipment to be charged, and stopping charging the equipment to be charged when the real-time electric quantity is larger than or equal to the electric quantity threshold value.

The method for acquiring the real-time electric quantity of the device to be charged may be to establish communication connection with the device to be charged, and the device to be charged directly sends the real-time electric quantity to the wireless charging device. The charge threshold may be, for example, 95% or more of the battery capacity of the device to be charged, and is not limited herein.

In this embodiment, a wireless charging method is further provided, which is applied to a wireless charging device, such as the aforementioned wireless charging device, and specifically, referring to fig. 9, the wireless charging method includes the following steps:

step S210: the method comprises the steps of responding to a charging request of a device to be charged, and wirelessly charging the device to be charged, wherein the device to be charged is provided with a first wireless charging coil.

Step S220: and acquiring the temperature distribution information of the contact surface of the equipment to be charged and the wireless charging device.

Step S230: and acquiring the magnetic field distribution information of the contact surface of the equipment to be charged and the wireless charging device.

The magnetic field distribution information can be obtained by a magnetic sensor arranged on the wireless charging device, the magnetic field distribution information can comprise magnetic field intensity data of each point on the bearing surface,

in some embodiments, the magnetic field distribution information of the contact surface between the device to be charged and the wireless charging apparatus may be obtained after the device to be charged and the wireless charging apparatus establish a charging connection. Or after a preset time period, acquiring the magnetic field distribution information of the contact surface between the device to be charged and the wireless charging device, wherein the method has the advantages that: in the charging process, along with the increase of duration, the current-carrying of first wireless charging coil changes, and the magnetic field distribution of loading surface changes this moment, and when along with the increase of duration, the current-carrying of first wireless charging coil is stable, and magnetic field data that magnetic field sensor acquireed can be more stable, therefore data are more accurate for also more accurate when the position of confirming first wireless charging coil. For example, after the device to be charged and the wireless charging device are connected in a charging mode, the magnetic field distribution information of the contact surface of the device to be charged and the wireless charging device can be acquired after 3-5 min. The form of acquiring the magnetic field distribution information can be to collect the magnetic field information of each point or each characteristic point on the bearing surface and store the magnetic field information in the local or cloud.

It is understood that step S220 and step S230 may be performed simultaneously or sequentially, and the order of step S220 and step S230 is not particularly limited.

Step S240: determining a position of the first wireless charging coil based on the temperature distribution information and the magnetic field distribution information.

Because the first wireless charging coil can form a magnetic field after being electrified, and a plurality of poles can be formed in the formed magnetic field, the pole refers to the central point of the magnetic field formed by each coil, the pole is located at the center of each coil, the magnetic field intensity of the pole is the largest in the magnetic field formed by the same coil, and the magnetic field direction is perpendicular to the plane where the first wireless charging coil is located. Theoretically, the poles of the coaxially arranged multi-turn coil should be overlapped, but the actual first wireless charging coil cannot be completely coaxial in the winding process, so that a plurality of poles can be formed. In this embodiment, the location of the first wireless charging coil is determined by the temperature distribution information and the magnetic field distribution information, which is more accurate for the location of the first wireless charging coil. In one embodiment, since there may be a plurality of temperature peaks having the same temperature in the temperature distribution information, a plurality of possible center positions of the first wireless charging coil may be determined according to the temperature distribution information, and then a point coinciding with the pole among the determined plurality of center positions may be determined as a position of the first wireless charging coil according to the magnetic field distribution information.

In a more specific embodiment, referring to fig. 10, the location of the first wireless charging coil may also be determined through steps S241-S243.

Step S241: and determining a plurality of poles according to the magnetic field distribution information. Wherein, the plurality of poles may be discrete,

step S242: and determining the area range of the position of the pole with the highest temperature in the plurality of poles according to the temperature distribution information.

Step S243: and determining the position corresponding to the area range of the position of the pole with the highest temperature as the center position of the first wireless charging coil, and determining the position of the first wireless charging coil according to the center position.

Above-mentioned mode is used two parameters of temperature and magnetic field intensity simultaneously and is fixed a position first wireless charging coil jointly, and the position of first wireless charging coil of definite is more accurate.

Step S250: and controlling the second wireless charging coil to move so that the second wireless charging coil corresponds to the position of the first wireless charging coil.

According to the wireless charging method, the position of the first wireless charging coil can be determined more accurately, so that the subsequent movement of the second wireless charging coil is facilitated, the second wireless charging coil can better correspond to the first wireless charging coil, and the charging efficiency is improved.

In this embodiment, another wireless charging method is provided, which is applied to a wireless charging device, such as the aforementioned wireless charging device, and specifically, referring to fig. 11, the wireless charging method includes the following steps:

step S310: the method comprises the steps of responding to a charging request of a device to be charged, and wirelessly charging the device to be charged with first power, wherein the device to be charged is provided with a first wireless charging coil.

Step S320: and acquiring the temperature distribution information of the contact surface of the equipment to be charged and the wireless charging device.

Step S330: the location of the first wireless charging coil is determined from the temperature profile information.

Step S340: and controlling the second wireless charging coil to move so that the second wireless charging coil corresponds to the position of the first wireless charging coil.

Step S350: and wirelessly charging the device to be charged with second power, wherein the second power is greater than the first power.

Wherein the second power may be, for example, 2-3 times the first power. The manner of adjusting the charging power may be to increase the charging current or increase the charging voltage, which is not limited herein.

According to the wireless charging method, the equipment to be charged is charged with small power, and the equipment to be charged is charged with large charging power after the second wireless charging coil completely corresponds to the first wireless charging coil. After the second wireless charging coil completely corresponds to the first wireless charging coil, wireless charging is carried out with bigger power, charging efficiency can be accelerated, and charging time is shortened.

It should be noted that the various embodiments in any of the foregoing method embodiments may be referred to one another, and should not be construed as limiting the implementation of the specific embodiments.

It is understood that in some other embodiments, as shown in fig. 12, the device to be charged may also be an electronic device such as a mobile phone, and when a user places the electronic device on the carrying surface of the wireless charging apparatus and contacts the carrying surface, the electronic device may be charged.

Referring to fig. 13 and 14, the present embodiment further provides a device to be charged 10, where the device to be charged 10 includes a housing 11, a first wireless charging coil 13, a temperature sensor 14, and a control device (not shown), where the housing 11 has an inner cavity (not shown), and the first wireless charging coil 13 is movably disposed in the inner cavity and can be coupled to a second wireless charging coil 21 on a wireless charging device (e.g., the wireless charging device shown in fig. 1).

Specifically, in this embodiment, the device to be charged 10 is a robot, and various types of components may be disposed in the housing 11 to perform predetermined functions. For example: the housing 11 may be provided with a camera and/or a radar to enable the device to be charged 10 to have visual perception capability, and the housing 11 may also be provided with a bearing platform for bearing and carrying objects. The housing 11 may also be configured in an animal configuration, such as a dog, cat, spider, or the like. The receiving cavity is located at a belly position of the housing 11, and the first wireless charging coil 13 may be disposed adjacent to an outer surface of the housing 11. Specifically, the housing 11 may have an attaching surface 111 contacting the carrying surface, and the first wireless charging coil 13 may be disposed adjacent to the attaching surface 111, so that when the device to be charged 10 is wirelessly charged, the attaching surface 111 is attached to the carrying surface.

The first wireless charging coil 13 may be movably disposed, and the specific disposing manner thereof may be the same as that of the second wireless charging coil, which is described above, and is not described herein.

The temperature sensor 14 is used for acquiring temperature distribution information of the outer surface of the housing 11, the temperature sensor 14 may be disposed on the outer surface of the housing 11 and adjacent to the first wireless charging coil 13, and particularly, the temperature sensor 14 may be disposed on the attaching surface 111 of the housing 11. The arrangement and specific operation principle of the temperature sensor 14 can be referred to the above, and will not be described herein.

The control device is used for controlling the first wireless charging coil 13 to move according to the temperature distribution information, so that the first wireless charging coil 13 corresponds to the second wireless charging coil in position. The setting mode and the specific working principle of the control device can refer to the foregoing contents, and are not described herein again.

The device to be charged 10 may further include a plurality of walking feet 12, the plurality of walking feet 12 are assembled on the housing 20 and are used for walking of the device to be charged 1010, it is understood that the number of the walking feet 12 is at least one, for example, the number of the walking feet 12 may be even, and the even number of the walking feet 12 may be distributed symmetrically, and particularly, as shown in fig. 1, as an example, the device to be charged 1010 has 4 walking feet 12, so as to form a four-foot robot, which has a stable structure and can be kept stable all the time during walking, thereby being very beneficial to being applied to various fields. Of course, it is understood that the device to be charged 10 may be a hexapod robot, an octapod robot, or the like, and is not particularly limited herein.

Each walking foot 12 may have multiple degrees of freedom of movement and may include a telescoping degree of freedom and a rotational degree of freedom such that the walking foot 12 may be motion translated in multiple directions, for example, each walking foot 12 may have 4 degrees of freedom, six degrees of freedom, or 9 degrees of freedom, etc., without limitation.

When charging is needed, the to-be-charged device 10 can be moved to the wireless charging device, and the walking feet 12 are bent to squat, so that the abdomen of the to-be-charged device is in contact with the wireless charging device, and charging is performed. Because in the process of the contact between the charging device 10 and the wireless charging device, the first wireless charging coil 13 and the second wireless charging coil may not completely correspond to each other, the first wireless charging coil 13 can be controlled by the control device to move, so that the positions of the first wireless charging coil 13 and the second wireless charging coil correspond to each other, the charging efficiency is improved, and the electric energy loss in the charging process is reduced.

The present embodiment further provides another wireless charging method, which can be applied to the above-mentioned device to be charged 10, and referring to fig. 15, the wireless charging method includes:

step S410: and receiving the power transmitted by the wireless charging device in a wireless mode, wherein the wireless charging device is provided with a second wireless charging coil.

When the charging equipment needs to be charged, the wireless charging device can be moved to the upper part of the wireless charging device, and the binding surface of the shell contacts the bearing surface through the squatting action. Before receiving the power transmitted by the wireless charging device, a charging request may also be sent to the wireless charging device to enable the wireless charging device to switch on the power supply for charging. When first wireless charging coil and the coupling of second wireless charging coil, wireless charging device can transmit electric power to first wireless charging coil, and at the in-process of receiving electric power, wireless charging device's loading face can produce the heat, and the temperature risees.

And step S420, acquiring temperature distribution information of the contact surface of the equipment to be charged and the wireless charging device.

Here, a contact surface of the device to be charged and the wireless charging device is a binding surface of the housing, and may also be a bearing surface of the wireless charging device. The temperature distribution information may be obtained by a temperature sensor, or in some embodiments, the temperature distribution information of the contact surface between the device to be charged and the wireless charging apparatus may also be obtained by means of infrared visual imaging.

In some embodiments, the temperature distribution information of the contact surface between the device to be charged and the wireless charging apparatus may be obtained after the device to be charged and the wireless charging apparatus establish a charging connection. Or after a preset time period, acquiring the temperature distribution information of the contact surface between the device to be charged and the wireless charging device, wherein the method has the advantages that: in the charging process, along with the increase of duration, the wireless charging coil of second continuously generates heat, and the temperature of bearing surface lasts to rise this moment, and when the temperature of bearing surface was higher, the temperature data that temperature sensor acquireed can be more be close its range, and consequently data are more accurate for also more accurate when confirming the position of the wireless charging coil of second. For example, after the device to be charged and the wireless charging device establish charging connection, the temperature distribution information of the contact surface between the device to be charged and the wireless charging device may be acquired after 3-5 min. The temperature distribution information can be acquired in the form of collecting the temperature information of each point or each characteristic point on the bearing surface and storing the temperature information in the local or cloud end.

Step S430: and determining the position of the second wireless charging coil according to the temperature distribution information.

In an embodiment, the position of the second wireless charging coil can be determined in the following manner, a plane coordinate system of each point on the bearing surface is established in advance, an area range where the highest temperature point is located is determined according to temperature distribution information, a position corresponding to the area range where the highest temperature point is located is determined as the center position of the second wireless charging coil, and the position of the second wireless charging coil is determined according to the center position. That is, the point on the bearing surface where the temperature is highest is determined as the center position of the second wireless charging coil, the coil center of the second wireless charging coil is determined to be at this center position, and since both wireless charging coils are typically configured as circular or spiral coils, the position of the second wireless charging coil can be determined.

In an embodiment, the position of the second wireless charging coil may be determined in the following manner, according to the temperature distribution information, the position of the second wireless charging coil is compared with a pre-stored temperature distribution information table, the temperature gradient of an area range where the highest temperature point is located in the temperature distribution information table is compared with the temperature gradient obtained from the temperature distribution information, the position matched with the temperature gradient of the area range where the highest temperature point is located in the temperature distribution information table is determined as the position of the second wireless charging coil, and the temperature distribution information table includes temperature information and temperature gradient information of each point on the bearing surface at a preset time when the device to be charged is in a standard charging state. The pre-stored temperature profile information table may be pre-collected in a standard charging mode, for example: before the equipment leaves a factory, the equipment to be charged is contacted with the contact surface, the second wireless charging coil corresponds to the center position of the bearing surface, and therefore after charging connection is established, the collected temperature distribution information of the bearing surface is the temperature distribution information of the bearing surface in a standard charging state with the center of the bearing surface as a reference. Temperature distribution information under the standard state of charge can be saved in wireless charging device local or high in the clouds server, through calling temperature distribution information under the standard state of charge, contrasts with the temperature distribution information of actual collection, can be in order to determine the offset of the central point of the wireless charging coil of current second and the central point of loading face, and then confirms the position of the wireless charging coil of current second.

Step S440: and controlling the first wireless charging coil to move so that the first wireless charging coil corresponds to the position of the second wireless charging coil.

Taking the wireless charging device as an example, the control device can control the second wireless charging coil to move, and the control device can control the first wireless charging coil to move, so that the first wireless charging coil is moved to a position corresponding to the position of the second wireless charging coil.

According to the wireless charging method, the position of the second wireless charging coil can be determined by acquiring the temperature distribution information of the contact surface between the wireless charging device and the equipment to be charged, and the first wireless charging coil is controlled to correspond to the second wireless charging coil in position, so that the first wireless charging coil and the second wireless charging coil have higher coupling degree when wireless charging is carried out, the charging efficiency is improved, and meanwhile, the loss of electric energy in the charging process is reduced.

The embodiment also provides a wireless charging system, which includes a wireless charging apparatus and a device to be charged, where the wireless charging apparatus may be the aforementioned wireless charging apparatus 20, and the device to be charged may be the aforementioned device to be charged 10. And at least one of the second wireless charging coil in the wireless charging device and the first wireless charging coil in the device to be charged is configured into a movable structure, so that in the process of wireless charging, the first wireless charging coil and the second wireless charging coil can correspond in position by moving at least one of the second wireless charging coil in the wireless charging device and the first wireless charging coil in the device to be charged, and further, the charging efficiency is improved.

Referring to fig. 16, the present embodiment further provides another wireless charging method, which can be applied to the wireless charging system, including the following steps:

step S510: the wireless charging device responds to a charging request of the equipment to be charged and wirelessly charges the equipment to be charged.

Step S520: the equipment to be charged receives the electric power transmitted by the wireless charging device in a wireless mode.

Step S530: and acquiring the temperature distribution information of the contact surface of the equipment to be charged and the wireless charging device.

Step S540: determining a location of the first wireless charging coil or the second wireless charging coil based on the temperature profile information.

Step S550: controlling at least one of the first wireless charging coil and the second wireless charging coil to move such that the second wireless charging coil corresponds to the position of the first wireless charging coil.

In step S510 to step S550, the specific implementation manner of any step may refer to the foregoing method embodiment, which is not described herein again. According to the wireless charging method, when the equipment to be charged is charged, the charging efficiency can be improved, and the electric energy loss is reduced.

Referring to fig. 17, an embodiment of the present application provides a block diagram of a computer-readable storage medium. The computer readable medium 1000 has stored therein program code that can be invoked by a processor to perform the wireless charging method described in any of the above method embodiments. The computer-readable storage medium 1000 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium 1000 includes a non-volatile computer-readable storage medium. The computer readable storage medium 1000 has storage space for program code 1100 for performing any of the method steps of the method described above. The program code can be read from or written to one or more computer program products. The program code 1100 may be compressed, for example, in a suitable form.

In this specification, particular features or characteristics described may be combined in any one or more embodiments or examples as appropriate. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

1. A wireless charging apparatus for charging a device to be charged, the device to be charged having a first wireless charging coil, the wireless charging apparatus comprising:

the bearing device comprises a base, a bearing seat and a bearing seat, wherein an accommodating cavity is formed in the base;

a second wireless charging coil movably disposed within the receiving cavity and coupleable with the first wireless charging coil;

the temperature sensor is used for acquiring temperature distribution information of the bearing surface; and

the control device is used for controlling the second wireless charging coil to move according to the temperature distribution information, so that the second wireless charging coil corresponds to the position of the first wireless charging coil.

2. The wireless charging device of claim 1, further comprising a magnetic sensor, wherein the magnetic sensor is configured to detect magnetic field distribution information of the bearing surface, and the control device is configured to control the second wireless charging coil to move according to the temperature distribution information and the magnetic field distribution information, so that the second wireless charging coil corresponds to a position of the first wireless charging coil.

3. The wireless charging apparatus of claim 1 or 2, further comprising a thermal insulation layer disposed between the temperature sensor and the wireless charging coil.

4. The wireless charging apparatus of claim 1, further comprising a drive mechanism for driving movement of the second wireless charging coil.

5. The wireless charging device according to claim 4, wherein a first guide rail and a second guide rail are arranged in the accommodating cavity, the first guide rail and the second guide rail are arranged at an angle, the second wireless charging coil is slidably arranged on the first guide rail, the second guide rail is slidably arranged on the second guide rail, and the driving structure is used for driving the second wireless charging coil to move along the first guide rail and/or the second guide rail.

6. An apparatus to be charged, characterized in that the apparatus to be charged comprises:

a housing having an interior cavity;

the first wireless charging coil is movably arranged in the inner cavity and can be coupled with a second wireless charging coil on a wireless charging device;

a temperature sensor for acquiring temperature distribution information of an outer surface of the housing; and

the control device is used for controlling the first wireless charging coil to move according to the temperature distribution information, so that the first wireless charging coil corresponds to the second wireless charging coil in position.

7. A wireless charging method is applied to a wireless charging device, the wireless charging device comprises a second wireless charging coil, and the method comprises the following steps:

responding to a charging request of a device to be charged, and wirelessly charging the device to be charged, wherein the device to be charged is provided with a first wireless charging coil;

acquiring temperature distribution information of a contact surface between the equipment to be charged and the wireless charging device;

determining a location of the first wireless charging coil according to the temperature distribution information;

controlling the second wireless charging coil to move such that the second wireless charging coil corresponds to the position of the first wireless charging coil.

8. The method of claim 7, wherein the wirelessly charging the device to be charged in response to a charging request of the device to be charged comprises:

responding to a charging request of a device to be charged, and wirelessly charging the device to be charged with first power;

after the controlling the second wireless charging coil to move such that the second wireless charging coil corresponds to the position of the first wireless charging coil, the method further comprises:

and wirelessly charging the device to be charged with second power, wherein the second power is greater than the first power.

9. The method of claim 7, wherein the determining the location of the first wireless charging coil from the temperature profile information comprises:

according to the temperature distribution information, determining an area range where the highest temperature point is located, determining a position corresponding to the area range where the highest temperature point is located as a center position of the first wireless charging coil, and according to the center position, determining the position of the first wireless charging coil.

10. The method of claim 7, wherein the determining the location of the first wireless charging coil from the temperature profile information comprises:

according to the temperature distribution information, comparing with a pre-stored temperature distribution information table, comparing the temperature gradient of the area range where the highest temperature point is located in the temperature distribution information table with the temperature gradient obtained from the temperature distribution information, and determining that the position matched with the temperature gradient of the area range where the highest temperature point is located in the temperature distribution information table is the position of the first wireless charging coil, wherein the temperature distribution information table comprises temperature information and temperature gradient information of each point on the bearing surface at a preset moment when the device to be charged is in a standard charging state.

11. The method of claim 7, wherein prior to determining the location of the first wireless charging coil from the temperature profile information, the method further comprises:

acquiring magnetic field distribution information of a contact surface of the equipment to be charged and the wireless charging device;

the determining the location of the first wireless charging coil from the temperature distribution information includes:

and determining the position of the first wireless charging coil according to the temperature distribution information and the magnetic field distribution information.

12. The method of claim 11, wherein the determining the location of the first wireless charging coil from the temperature distribution information and the magnetic field distribution information comprises:

determining a plurality of poles according to the magnetic field distribution information;

determining the area range of the position of the pole with the highest temperature in the plurality of poles according to the temperature distribution information,

determining a position corresponding to an area range of a position of a pole with the highest temperature as a center position of the first wireless charging coil, and determining the position of the first wireless charging coil according to the center position.

13. The method of any one of claims 7-12, further comprising:

and acquiring the real-time electric quantity of the equipment to be charged, and stopping charging the equipment to be charged when the real-time electric quantity is greater than or equal to an electric quantity threshold value.

14. A wireless charging method is applied to a device to be charged, wherein the device to be charged is provided with a first wireless charging coil, and the method comprises the following steps:

receiving power transmitted by the wireless charging device in a wireless mode, wherein the wireless charging device is provided with a second wireless charging coil;

determining the position of the second wireless charging coil according to the temperature distribution information;

controlling the first wireless charging coil to move such that the first wireless charging coil corresponds to a position of the second wireless charging coil.

15. A computer-readable storage medium, having stored thereon program code that can be invoked by a processor to perform the method according to any one of claims 7 to 14.